WO2015053046A1

WO2015053046A1 - Resistance-force output device

Info

Publication number: WO2015053046A1
Application number: PCT/JP2014/074389
Authority: WO
Inventors: 隆志大場; 宏行高妻
Original assignee: 株式会社ホンダロック
Priority date: 2013-10-08
Filing date: 2014-09-16
Publication date: 2015-04-16
Also published as: JP6033197B2; BR112016007561A2; EP3056962B1; US10146247B2; CN105723292A; CN105723292B; EP3056962A1; EP3056962A4; JP2015075878A; US20160246321A1

Abstract

This resistance-force output device (10) is provided with the following: a drive unit (20) that drives a drive member (12) so as to output, to an operated element (8) that is operated by an operator, a force in the opposite direction from the direction in which the operated element (8) is operated; and a control unit (56) that determines whether or not there is a gap between the operated element (8) and the drive member (12), and if it is determined that there is a gap, controls the drive unit (20) so as to output a drive force that is larger than the drive force that is outputted if it is determined that there is no gap.

Description

Reaction force output device

The present invention relates to a reaction force output device.
This application claims priority based on Japanese Patent Application No. 2013-21111 filed on Oct. 8, 2013, the contents of which are incorporated herein by reference.

In recent years, for example, an accelerator pedal that outputs to the accelerator pedal a force (reaction force) opposite to the force (depression force) that depresses the accelerator pedal, in order to suppress unintentional sudden acceleration when the vehicle starts or travels. An apparatus has been developed (see, for example, Patent Document 1).
The accelerator pedal device described in Patent Document 1 includes a housing that pivotally supports the base end of a pedal arm, a return spring for returning the pedal arm to an initial position, a motor for creating a reaction force, A lever for transmitting the rotation of the motor to the pedal arm is incorporated. In this accelerator pedal device, the motor is controlled by the control device to an output corresponding to the depression state of the accelerator pedal, and the output is applied to the pedal arm through the transmission lever.

Japanese Unexamined Patent Publication No. 2010-111379

However, in the accelerator pedal device described in Patent Document 1, the motor creates a reaction force, but the reaction force during the stepping operation may become larger than necessary due to an increase in friction torque generated in the closed circuit of the motor. It was. In order to avoid this, for example, if energization of the motor is suppressed, the output of the motor may be insufficient, and the drive member of the motor may not sufficiently follow the pedal arm.

An object according to the present invention is to provide a reaction force output device capable of improving followability.

The reaction force output device of the present invention employs the following configuration.
(1) A reaction force output device according to one aspect of the present invention drives a driving member to output a force in a direction opposite to an operation direction to an operator operated by an operator, When it is determined whether or not there is a separation between the operation element and the driving member, and it is determined that the separation has occurred, the driving force is greater than when it is determined that no separation has occurred. And a control unit that controls the drive unit so as to output the signal.
According to the aspect of (1), when the operation member and the driving member are separated, the reaction force output device outputs a larger driving force, so that the driving member follows the operation member. To do. Therefore, it is difficult for the drive member and the operation element to be separated from each other. Therefore, the reaction force output by the reaction force output device can be accurately transmitted to the operation element, and for example, the accelerator feeling can be improved.

(2) In the aspect of the above (1), when the control unit determines that the separation has not occurred, the control unit intermittently energizes the drive unit based on a control target value input from the outside. If it is determined that the separation has occurred, the energization period to the drive unit can be made longer than when it is determined that the separation has not occurred. Good.
In the case of the above (2), the reaction force output device, for example, when there is no separation between the driving member and the operation element, is based on a control target value according to external information such as travel speed, for example. Can be transmitted to the controller. Further, when the separation occurs, the separation is eliminated by energization for a long time. Therefore, the reaction force output device can transmit information to the user via the operation element.

(3) In the aspect of (2), when the control unit determines that the separation does not occur, a period during which the drive unit is driven by PWM control and a period during which energization to the drive unit is stopped And may be provided alternately.
Here, for example, when the driving force of the driving unit is controlled by PWM (Pulse Width Modulation) control when there is no separation between the operating element and the driving member, Due to circuit characteristics such as regeneration due to a diode present in the circuit, a closed circuit may be maintained and an appropriate driving force may not be output.
In the case of (3), since the period for stopping energization to the drive unit is provided in addition to the period for driving the drive unit by PWM control, the phenomenon that the above-described closed circuit is maintained can be avoided. Therefore, the driving unit can output an appropriate driving force.

(4) In any one of the above aspects (1) to (3), the driving unit is a rotary electric motor, and the control unit is configured based on a degree of rotation delay of the driving unit, It may be determined whether or not there is a separation from the driving member.
In the case of (4) above, the reaction force output device detects the actual rotation delay of the motor with respect to the rotation of the motor expected by energization. The rotation of the electric motor and the movement of the driving member are linked, and when the movement of the driving member is restricted, the rotation of the electric motor is hindered. Further, the movement of the driving member is hindered by the operation of the operation element. For this reason, while the operation element is being operated, the rotation of the electric motor is hindered and delayed. Therefore, by detecting the degree of delay of the electric motor, it is possible to easily determine whether or not there is a separation between the operating element and the driving member without measuring the actual distance between the operating element and the driving member. The driving force output by the unit can be controlled.

(5) In any one of the above aspects (1) to (3), the control unit is separated between the operation element and the driving member based on a change in current consumption consumed by the driving unit. It may be determined whether or not the above has occurred.
In the case of (5) above, the reaction force output device detects the value of current consumption consumed by the drive unit by energization. For example, when the rotary electric motor of the drive unit is rotating, the current consumption is reduced because the energization path of the circuit is switched with the rotation inside the drive unit. When the electric motor is not rotating, the current continues to flow through the same path, so the current consumption increases. As described above, the rotation of the electric motor is hindered by the limitation of the movement of the driving member by the operator. Therefore, by detecting the current consumption of the electric motor, it is possible to easily determine whether or not there is a separation between the operating element and the driving member without measuring the actual distance between the operating element and the driving member. it can.

(6) In any one of the above aspects (1) to (3), the control unit is configured to input the operation amount of the operating element and the displacement of the driving member by the driving unit. It may be determined whether or not there is a separation between the operating element and the driving member.
In the case of (6), it is determined whether or not there is a separation between the driving member and the operating element based on the operation amount indicating the position of the operating element and the displacement of the driving member indicating the position of the driving member. Therefore, it can be accurately determined whether or not the driving member should be driven with a large output.

According to the aspect of the present invention, it is possible to provide a reaction force output device that can improve followability.

It is a figure which shows an example of the external appearance structure of the accelerator pedal apparatus provided with the reaction force output device which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of an internal structure of the reaction force output device which concerns on this embodiment. It is a figure which shows an example of a function structure centering on the control circuit of the reaction force output device which concerns on this embodiment. It is a figure which shows typically the basic control performed by the microcomputer of the reaction force output device which concerns on this embodiment. It is a figure which shows an example of the detection signal from Hall IC of the reaction force output device which concerns on this embodiment in the scene where there is no external load to a motor. It is a figure which shows an example of the detection signal from Hall IC of the reaction force output device which concerns on this embodiment in the scene with the external load to a motor. It is a figure which shows the other example of the detection signal from Hall IC of the reaction force output device which concerns on this embodiment in the scene with the external load to a motor. It is a flowchart which shows an example of the electricity supply control process of the reaction force output device which concerns on this embodiment. It is a figure for demonstrating an example of the influence of the external load to the consumption current of the motor of the reaction force output device which concerns on the 2nd Embodiment of this invention. It is a figure for demonstrating an example of the influence of the external load to the consumption current of the motor of the reaction force output device which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows an example of the electricity supply control process of the reaction force output device which concerns on this embodiment. It is a flowchart which shows an example of the electricity supply control process of the reaction force output apparatus with which the vehicle which concerns on the 3rd Embodiment of this invention is provided.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The reaction force output device in each embodiment outputs, for example, an accelerator fee by outputting a force (reaction force) opposite to the pedaling force to an operator such as an accelerator pedal provided for instructing acceleration of the vehicle. It is a device for improving the ring, transmitting to encourage accelerator work that saves fuel consumption, and performing various safety controls. Safety control includes control that outputs a relatively large reaction force in order to suppress excessive acceleration before a curve, in an urban area, a school zone, or the like. In addition, when a sudden accelerator pedal operation exceeding the reference is performed, it may be determined that the operation is erroneous and control to output a large reaction force may be performed. Examples of the operation element include an accelerator pedal, a brake pedal, a steering wheel, or an operation device for a game machine.

<First Embodiment>
FIG. 1 is a diagram illustrating an example of an external configuration of an accelerator pedal device 1 including a reaction force output device 10 according to the first embodiment. The accelerator pedal device 1 includes a pedal body unit 2 installed in front of the driver's seat and a reaction force output device 10 (drive unit) installed above the pedal body unit 2 in front of the driver's seat. ing.

The pedal body unit 2 is provided on a holding base 2a attached to the vehicle body, a pedal arm 4 whose base end is rotatably supported by a support shaft 2b provided on the holding base 2a, and a distal end portion of the pedal arm 4. The holding base 2a is provided with a return spring (not shown) that constantly urges the pedal arm 4 to the initial position. Connected to the pedal arm 4 is a cable (not shown) for operating the opening of a throttle valve (not shown) of the internal combustion engine (engine) in accordance with the operation amount (rotation angle) of the pedal arm 4. . However, when the internal combustion engine employs an electronically controlled throttle, a rotation sensor for detecting the rotation angle of the pedal arm 4 is provided in the pedal body unit 2, and the throttle valve is detected based on the detection signal of the rotation sensor. The opening degree may be controlled. Further, a reaction force transmission lever 8 extending in a direction substantially opposite to the extending direction of the pedal arm 4 is integrally connected to the vicinity of the base end of the pedal arm 4. Further, the distal end portion of the output lever 12 that is a driving member of the reaction force output device 10 and the distal end portion of the reaction force transmission lever 8 can be brought into contact with each other. The turning force of the output lever 12 that is a drive member of the reaction force output device 10 is output to the pedal arm 4 via the reaction force transmission lever 8. In this way, the reaction force output device 10 outputs a reaction force in a direction opposite to the direction of the pedal force to the operation element (for example, the reaction force transmission lever 8).

FIG. 2 is a diagram illustrating an example of the internal structure of the reaction force output device 10. FIG. 2 shows a state in which the housing cover of the resin housing 14 is removed. The reaction force output device 10 includes a motor (electric motor) 20 (drive unit) that is a drive source for generating reaction force, a reaction force output shaft 16 that is pivotally supported by the housing 14, and a gear reduction mechanism 30. And. The gear reduction mechanism 30 decelerates the rotation of the rotor of the motor 20 to increase the torque, deflects it from the direction of the motor rotation shaft 22 toward the reaction force output shaft 16, and transmits it to the output lever 12. One end portion in the reaction force output shaft direction protrudes outward from the side surface of the housing 14, and the output lever 12 is integrally connected to the protruding end portion.

The rotation of the rotor of the motor 20 is controlled by a control circuit mounted on the circuit board 50. Connected to the circuit board 50 is a CAN (Controller Area Network) cable (not shown) for transmitting and receiving signals between a host ECU (Electronic Control Unit) described later and a control circuit. The circuit board 50 and the motor 20 are connected via a cable, and the rotation of the rotor of the motor 20 is controlled based on a control signal sent from the circuit board 50. A small hole is provided in the casing that covers the rotor of the motor 20, and a Hall IC (Integrated Circuit) is fitted into the small hole. The Hall IC detects the magnetic flux intensity that passes through the small hole and outputs a voltage corresponding to the detected magnetic flux intensity. Since the magnetic flux intensity detected by the Hall IC changes according to the rotation of the rotor in the motor 20, the amount of rotation of the rotor can be detected based on the output voltage of the Hall IC. In the following description, as an example, a case where three Hall ICs are installed will be described. However, two or more Hall ICs may be used.

FIG. 3 is a diagram illustrating an example of a functional configuration centering on a control circuit of the reaction force output device 10. In FIG. 3, the reaction force output device 10 includes a CAN control circuit 54 that performs CAN communication between the motor 20 and the host ECU 70, a microcontroller (microcomputer) 56 (control unit), and a motor driver IC 58 (control unit). A power FET (Field Effect Transistor) 60,

Hall ICs

64U, 64V, 64W (control unit), and a current detection sensor 66. In the following description, the three Hall ICs may be collectively referred to as the Hall IC 64.

The host ECU 70 controls the driving of the engine 72 by controlling, for example, the opening degree of the throttle valve according to the operation amount of the pedal arm 4. In the engine 72, a crankshaft as an output shaft is connected to an axle, and outputs a driving force for driving the vehicle. The travel drive unit may have a configuration in which a travel motor is added to the engine 72, or may have a configuration in which the travel drive force is output only by the travel motor without the engine 72.

The microcomputer 56 performs CAN communication with the host ECU 70 via the CAN control circuit 54. The microcomputer 56 receives from the host ECU 70 a reaction force setting value that serves as a reference for the magnitude of the reaction force created by the reaction force output device 10. The microcomputer 56 controls the motor driver IC 58 based on the reaction force setting value received from the host ECU 70 and controls the energization to the power FET 60.

Basically, the microcomputer 56 causes the motor driver IC 58 to perform PWM control of the power FET 60 with a duty ratio corresponding to the reaction force set value. The power FET 60 includes U-phase, V-phase, and W-

phase power FETs

60U, 60V, and 60W, and each power FET is connected to a coil of a corresponding phase of the motor 20, respectively. The motor driver IC 58 cyclically turns on / off each phase power FET to generate a magnetic field in each phase coil, and rotates the rotor of the motor 20.

Further, the microcomputer 56 performs control by periodically switching a period during which PWM control is performed and a period during which all of the power FET 60U, the power FET 60V, and the power FET 60W are simultaneously turned off. The motor driver IC 58 includes an input terminal 58a for receiving an input of a signal for turning off all of the power FET 60U, the power FET 60V, and the power FET 60W (hereinafter, all off signal).

FIG. 4 is a diagram schematically showing basic control executed by the microcomputer 56. In this figure, the time has elapsed from t10 to t12. The microcomputer 56 intermittently outputs all OFF signals to the input terminal 58a of the motor driver IC 58. The all-off signal is input by, for example, LOW assertion. When the all-off signal is HIGH, the motor driver IC 58 energizes the power FET 60 to perform PWM control (PWM control on). When the all-off signal is LOW, the motor driver IC 58 does not energize any of the power FET 60U, the power FET 60V, and the power FET 60W (PWM control off). While the power FET 60 is energized, the motor 20 is driven and current is consumed. In the following, intermittent control of energization to the motor 20 as described above may be referred to as intermittent control. In the following description, the three power FETs may be collectively referred to as a power FET 60.

The control as shown in FIG. 4 is performed under the following circumstances. When the reaction force output device 10 is configured by the motor 20 driven by the coil and the power FET, the torque when the pedal arm 4 is depressed increases due to the increase of the friction torque generated in the closed circuit of the motor 20, and the reaction force May become excessive. On the other hand, if PWM control with a duty ratio not 100% is performed, the motor 20 should be an open circuit in the pulse OFF section, but the current is not fully lost due to regeneration by the diode of the power FET 60 or additional components. The circuit may be maintained. Therefore, it is necessary to turn off all of the power FET 60U, the power FET 60V, and the power FET 60W at the same time and provide a period in which PWM control is not performed.

However, when the control as shown in FIG. 4 is performed, there is a case where the output of the reaction force output device 10 is insufficient due to the existence of a period during which the PWM control is not performed. As a result, the rotation of the motor 20 cannot follow the return of the pedal arm 4 immediately after the driver depresses the pedal main body 6 and immediately after releasing the foot from the pedal main body 6, for example, the output lever 12 In some cases, the front end of the reaction force and the front end of the reaction force transmission lever 8 are separated from each other. As described above, when the output lever 12 driven by the motor 20 and the reaction force transmission lever 8 are separated as described above, the motor 20 cannot immediately output the reaction force to the pedal arm 4. (Followability deteriorates). As a result, when the driver next steps on the pedal arm 4, no reaction force is felt and the accelerator feeling may fluctuate.

On the other hand, the reaction force output device 10 of the present embodiment has a connecting structure between the output lever 12 and the pedal body 6 (in this embodiment, particularly, between the output lever 12 and the reaction force transmission lever 8). It is determined whether or not there is any separation, and the output of the motor 20 is controlled according to the determination result, thereby suppressing the above-described deterioration in follow-up performance. This will be described below.

The microcomputer 56 is connected with a current detection sensor 66 and a motor driver IC 58. The microcomputer 56 receives information about the current consumption of the motor 20 from the current detection sensor 66. In addition to the microcomputer 56, three

Hall ICs

64U, 64V, 64W are connected to the input terminal of the motor driver IC 58, and the motor driver IC 58 accepts a change in voltage output from each of the

Hall ICs

64U, 64V, 64W. The motor driver IC 58 outputs information related to the rotation amount of the rotor of the motor 20 to the microcomputer 56 based on input from the

Hall ICs

64U, 64V, 64W.

The microcomputer 56 receives information on the rotation amount of the rotor of the motor 20 based on the detection result of the Hall IC 64 via the motor driver IC 58 (or directly from the Hall IC 64). In the present embodiment, based on the detection results of the

Hall ICs

64U, 64V, 64W (control unit), the output lever 12 (drive member) of the reaction force output device 10 (drive unit) and the pedal main body unit 6 (operator). In the present embodiment, whether or not there is a separation between the output lever 12 (drive member) and the reaction force transmission lever 8 (operator). The microcomputer 56 (control unit) determines. When it is determined that the separation has occurred, the motor driver IC 58 (control unit) energizes the power FET 60 for a longer time than when it is determined that the separation has not occurred. As a result, a larger driving force is output to the output lever 12 than when it is determined that no separation has occurred, and the output lever 12 approaches and contacts the reaction force transmission lever 8 more quickly. As a result, the followability of the reaction force output device 10 to the pedal body 6 is improved. If it is determined that no separation has occurred, the motor driver IC 58 performs PWM control of energization of the power FET 60 at a duty ratio corresponding to the reaction force setting value. Thereby, the reaction force output device 10 outputs an appropriate reaction force to the pedal device.

Hereinafter, a method for determining separation based on the detection result of the Hall IC 64 will be described. As described with reference to FIG. 1, the rotational force of the output lever 12 that is a drive member of the reaction force output device 10 is output to the pedal arm 4 via the reaction force transmission lever 8, and the reaction force is applied to the pedal body 6. Is done. On the other hand, the pedaling force applied to the pedal body 6 gives a force in the direction opposite to the rotation direction to the output lever 12 via the pedal arm 4 and the reaction force transmission lever 8. And since the rotational force of the output lever 12 is obtained by the rotation of the rotor of the motor 20 in the forward direction, the pedaling force applied to the pedal body 6 prevents the rotation of the rotor of the motor 20 in the forward direction. Acts as an external load. That is, when the reaction force transmission lever 8 and the output lever 12 are in contact with each other (no separation occurs), the rotation of the rotor of the motor 20 is hindered according to the treading force and is not in contact (separation occurs). The rotation of the rotor of the motor 20 is not hindered. Therefore, when the rotational speed is slower than the planned rotational speed based on the drive signal given to the motor 20, the connection structure between the output lever 12 and the pedal body 6 is not separated (the output lever 12 and the pedal arm). 4 is in contact, and when there is no delay or the delay is small, it is determined that the connection structure between the output lever 12 and the pedal body 6 is separated. be able to. The microcomputer 56 performs energization for a long time, which will be described later, in a predetermined cycle, and detects the presence or absence of separation.

Here, the influence of the external load (stepping force) on the detection result of the Hall IC 64 will be described with reference to FIGS. Note that the graphs shown in FIGS. 5 to 7 are based on the same conditions except for the presence or absence of an external load. FIG. 5 is a diagram illustrating an example of a detection signal from the Hall IC 64 in a scene where there is no (or small) external load on the motor 20. In the example of FIG. 5, time has elapsed from time t20 to time t26. Time t22 indicates the time when the microcomputer 56 starts detecting the external load. Time t24 indicates the time when the microcomputer 56 starts control according to the presence or absence of an external load. During the period up to the start of detection (time t20 to time t22), for example, all OFF signals based on the reaction force set value are intermittently input to the motor driver IC 58 that controls the power FET 60. The rotation is suppressed. When the external load detection period (from time t22 to time t24) is entered, the power FET 60 is energized for a longer time than during intermittent control (hereinafter referred to as long-time energization control). In the example of FIG. 5, since there is no external load, the rotational speed of the rotor of the motor 20 increases, and the time difference T1 between phases is smaller than a predetermined time (in other words, the rotational speed is faster than the planned rotational speed). ). The predetermined time may be a constant value or may be variable according to the number of rotations of the rotor of the motor 20. Therefore, the microcomputer 56 determines that there is no external load, and continues the energization control for a long time even after the detection period ends (time t24 to time t26). As a result, a greater driving force is output to the output lever 12 than when it is determined that no separation has occurred, and the output lever 12 approaches and contacts the reaction force transmission lever 8 more quickly. Note that FIG. 5 shows an example in which the motor 20 is always energized during the detection period (time t22 to time t24) and after the detection period ends (time t24 to time t26). The ratio of time to the total off period may be made longer than that during intermittent control, or the duty ratio in PWM control may be made larger than during intermittent control.

FIG. 6 is a diagram illustrating an example of a detection signal from the Hall IC 64 in a scene where an external load is applied to the motor 20. In the example of FIG. 6, time has elapsed from time t30 to time t36. Time t32 indicates the time when the microcomputer 56 starts detecting the external load. Time t34 indicates the time when the microcomputer 56 starts control according to the presence or absence of an external load. In the external load detection period (time t32 to time t34), long-time energization control is performed as in the example of FIG. However, in the example of FIG. 6, since there is an external load, the rotational speed of the rotor of the motor 20 is only slightly increased.

When there is an external load on the motor 20, the time difference (delay T2) between the phases in the detection period is greater than the predetermined time (in other words, the rotation speed is slower than the planned rotation speed). Therefore, after the detection period ends (time t34 to time t36), the microcomputer 56 resumes the intermittent control. Thereby, rotation of the rotor of the motor 20 is suppressed, and the reaction force output device 10 does not output a reaction force larger than necessary.

FIG. 7 is a diagram illustrating another example of the detection signal from the Hall IC 64 in a scene where there is an external load on the motor 20. In the example of FIG. 7, time has elapsed from time t40 to time t46. Time t42 indicates the time when the detection of the external load is started. Time t44 indicates the time at which control according to the presence or absence of an external load is started. The example of FIG. 7 shows a scene with a larger external load than the scene described using FIG. In the example of FIG. 7, even after the microcomputer 56 starts detecting the external load, the output signal from the Hall IC 64 is detected only from a specific phase (U phase in this example). This indicates that the rotor of the motor 20 is not rotating at all.

The state shown in FIG. 7 is, for example, when the rotation of the rotor of the motor 20 is completely hindered by a strong external load, or when the accelerator pedal is in the fully closed position and the output lever 12 cannot be moved further. To occur. Therefore, the microcomputer 56 determines that there is an external load when the time difference between the phases cannot be measured. Therefore, the microcomputer 56 resumes the intermittent control after the detection period ends. In addition, although description is abbreviate | omitted here, when the bigger external load is given to the reaction force output device 10, the rotor of the motor 20 may reversely rotate. In this case, the output order from each phase of the Hall IC 64 is reversed. The microcomputer 56 may determine that an external load has been applied by detecting this.

FIG. 8 is a flowchart showing an example of energization control processing based on the output voltage of the Hall IC 64. First, the microcomputer 56 determines whether or not an external load detection timing (for example, an interval of 100 milliseconds) has arrived (step S100). When the detection timing has not arrived (step S100; NO), the process returns to step S100. When the detection timing has arrived (step S100; YES), the microcomputer 56 controls the motor driver IC 58 so that the power FET 60 is energized for a long time and tries to drive the motor 20 (step S102). Next, the motor driver IC 58 receives the output voltage from each of the

Hall ICs

64U, 64V, and 64W (Step S104). Next, the motor driver IC 58 determines whether or not the time difference between phases based on the output voltage output from each phase of the Hall IC 64 is greater than a predetermined time (for example, 20 milliseconds) (step S106). When the time difference between the phases is larger than the predetermined time (step S106; YES), the motor driver IC 58 determines that there is an external load, that is, the connection structure between the output lever 12 and the pedal body 6 is not separated. (Step S108), the intermittent control is resumed (Step S110). If the delay between the phases is not greater than the predetermined time (step S106; NO), the motor driver IC 58 has no external load, that is, the connection structure between the output lever 12 and the pedal body 6 is separated. By determining (step S112) and maintaining the energization control for a long time, the motor 20 is driven with a larger driving force, and the output lever 12 is made to follow the reaction force transmission lever 8 (step S114).

As described above, according to the reaction force output device 10 according to the present embodiment, the microcomputer 56 determines whether or not the connection structure between the output lever 12 and the pedal body 6 is separated, and the separation is performed. When it is determined that the output lever 12 has been generated, the motor 20 is controlled so as to output a larger driving force than when it is determined that no separation has occurred. Followability can be improved.

Further, since the microcomputer 56 controls the motor 20 by intermittently energizing the motor 20, it is possible to suppress an excessive reaction force.

Further, the microcomputer 56 determines whether or not there is a separation in the connection structure between the output lever 12 and the pedal body 6 based on the degree of rotation delay of the rotor of the motor 20 detected by the Hall IC 64. It is possible to control energization without adding a new configuration.

<Second Embodiment>
The second embodiment of the present invention will be described below with reference to the drawings. The reaction force output device in the second embodiment determines whether or not there is a separation between the drive member and the operation element based on the current consumption of the motor 20 instead of the output voltage of the Hall IC 64. In the present embodiment, the same reference numerals as those in the first embodiment are used for the respective components, and descriptions of the same functions are omitted.

9A and 9B are diagrams for explaining an example of the influence of the external load on the current consumption of the motor 20 in the external load detection period. FIG. 9A shows an example of a detection signal from the current detection sensor 66 in a scene where there is no external load on the motor 20. The time has elapsed from time t50a to time t52a. FIG. 9B shows an example of a detection signal of the current detection sensor 66 in a scene where there is an external load on the motor 20. The time has elapsed from time t50b to time t52b. The graphs shown in FIGS. 9A and 9B are based on the assumption that the conditions are the same except for the presence or absence of an external load.

As described above, the pedaling force applied to the pedal body 6 reduces the rotational speed of the rotor of the motor 20. The change in the rotation speed can be detected as, for example, an increase in current consumption of the motor 20 in addition to the time difference between the output times of the output voltages of the respective phases of the Hall IC 64. For example, when the motor 20 is energized for a long time and there is no external load (FIG. 9A), the rotor of the motor 20 rotates, and the power FET 60 causes the U-phase, V-phase, and W-phase in the order of three phases. Energization is switched quickly. Since each energized phase includes a coil, the current consumption of the motor 20 increases with time when energization is performed via a specific energized phase. Further, when the energized phase is switched, the increase in current consumption is reset. The switching speed of the energized phase and the rotation speed of the rotor of the motor 20 are linked. When there is no external load, the rotational speed of the rotor of the motor 20 increases with time (time t50a to time t52a), and the energized phase is quickly switched. The current consumption gradually decreases.

On the other hand, when there is an external load (FIG. 9B), the rotation of the rotor of the motor 20 is hindered. For example, the rotor of the motor 20 rotates slowly at the beginning of energization, and stops rotating at a certain time (time t51b). In this case, during the period during which the rotor of the motor 20 is rotating slowly (from time t50b to time t51b), the energized phase is switched slowly, so that the current consumption hardly changes. In the period after the rotation stops (time t51b to time t52b), the current consumption increases because the energized phase does not switch. Thus, for example, by detecting the current consumption of the motor 20 and determining whether or not the current consumption is greater than or equal to a threshold value, whether or not the output lever 12 is pressed by the reaction force transmission lever 8, that is, output It can be easily determined whether or not there is a separation in the connection structure between the lever 12 and the pedal body 6.

FIG. 10 is a flowchart showing an example of the energization control process based on the current consumption of the motor 20. This flowchart corresponds to the operation described with reference to FIG. 8 of the first embodiment, and steps S200, S202, S208, S210, S212, and S214 in FIG. 10 are respectively performed in steps S100, S102, S108, and S110 in FIG. , S112 and S114 are the same processes, and the description is omitted. In step S <b> 204, the current detection sensor 66 detects the current consumption of the motor 20 and outputs the detected information to the microcomputer 56. Next, the microcomputer 56 determines whether or not the current consumption of the motor 20 detected by the current detection sensor 66 is greater than or equal to a predetermined threshold (step S206). If the current consumption is greater than or equal to the threshold (step S206; YES), the process proceeds to step S208. When the current consumption is less than the threshold (step S206; NO), the process proceeds to step S212.

As described above, according to the reaction force output device 10 according to the present embodiment, it is possible to obtain the same effects as those described in the first embodiment. In addition, the microcomputer 56 has a new configuration in order to determine whether or not there is a separation in the connection structure between the output lever 12 and the pedal body 6 based on the fluctuation of the current consumption consumed by the motor 20. It is possible to control energization without adding.

<Third Embodiment>
The third embodiment of the present invention will be described below with reference to the drawings. The reaction force output device 10 according to this embodiment includes an output lever based on the rotation amount of the rotor of the motor 20 and, for example, the rotation angle of the pedal arm 4 input from the vehicle side, that is, the pedal operation amount. Whether or not there is a separation in the connecting structure between the pedal 12 and the pedal body 6 is determined. In the present embodiment, the same reference numerals as those in the first and second embodiments are used for the respective components, and description of the same functions is omitted.

The motor driver IC 58 in this embodiment detects the rotation amount of the rotor of the motor 20 based on the output voltages from the three Hall ICs 64. The number of outputs of the output voltage of the Hall IC 64 reflects the amount of rotation of the rotor of the motor 20. Further, the output order of the output voltage from each phase of the Hall IC 64 reflects the rotation direction of the rotor of the motor 20. For example, when the output voltage from the Hall IC 64 is detected in the order of the U phase, the V phase, the W phase, and the U phase, the rotor of the motor 20 rotates in the forward direction, and the output lever 12 rotates the reaction force transmission lever 8. It is driven in the direction of For example, when the output voltage from the Hall IC 64 is detected in the order of U phase, W phase, V phase, and U phase, the rotor of the motor 20 rotates in the reverse direction, and the output lever 12 transmits the reaction force. It is driven in the reverse direction of the lever 8. As described above, the motor driver IC 58 can accurately detect the rotation amount of the rotor of the motor 20 based on the number of times the output voltage is output from the Hall IC 64 and the order in which the output voltage is detected from each phase. Therefore, the displacement, that is, the position of the output lever 12 can be calculated. The motor driver IC 58 outputs information indicating the calculated position of the output lever 12 to the microcomputer 56.

The rotation angle of the pedal arm 4 is detected by, for example, a rotation sensor installed on the pedal arm 4 and output to the host ECU 70. Further, the host ECU 70 outputs information indicating the rotation angle of the pedal arm 4 to the microcomputer 56. The rotation of the pedal arm 4 changes the position of the reaction force transmission lever 8 connected to the pedal arm 4. Therefore, the change in the position of the reaction force transmission lever 8 is determined by the rotation angle of the pedal arm 4, and the microcomputer 56 can calculate the position of the reaction force transmission lever 8. The microcomputer 56 determines whether the output lever 12 and the reaction force transmission lever 8 are based on the rotation amount of the rotor of the motor 20 input from the motor driver IC 58 and the rotation angle of the pedal arm 4 input from the host ECU 70. It is determined whether or not they come into contact.

FIG. 11 is a flowchart illustrating an example of the energization control process based on the rotation amount of the rotor of the motor 20 and the rotation angle of the pedal arm 4. This flowchart corresponds to the operation described with reference to FIG. 8 of the first embodiment, and steps S300, S308, and S310 in FIG. 11 are the same as steps S100, S110, and S114 in FIG. To do. First, the motor driver IC 58 detects the amount of rotation of the rotor of the motor 20 based on the number of times that the output voltage is output from the three Hall ICs 64 and the detection order in each phase of the output voltage, and outputs it to the microcomputer 56. (Step S302). Next, the rotation sensor of the pedal arm 4 detects the rotation angle of the pedal arm 4 and outputs it to the host ECU 70. The host ECU 70 outputs the rotation angle to the microcomputer 56 (step S304). Next, the microcomputer 56 calculates the position of the output lever 12 from the rotation amount of the rotor of the motor 20, and calculates the position of the reaction force transmission lever 8 from the rotation angle of the pedal arm 4. Then, the microcomputer 56 determines whether or not the output lever 12 and the reaction force transmission lever 8 are in contact with each other (step S306). When it contacts (Step S306; YES), it changes to Step S308. When not contacting (separating) (step S306; NO), the process proceeds to step S310.

As described above, according to the reaction force output device 10 according to the present embodiment, it is possible to obtain the same effects as those described in the first embodiment. Further, the microcomputer 56 is arranged between the output lever 12 and the pedal body 6 based on the rotation angle of the pedal arm 4 indicating the input operation amount of the pedal arm 4 and the displacement of the output lever 12 of the motor 20. In order to determine whether or not the connection structure is separated, it is possible to control energization without adding a new configuration.

Although one embodiment of the present invention has been described above with reference to the drawings, the specific configuration is not limited to the above, and various design changes and the like are made without departing from the scope of the present invention. It is possible.

For example, in each of the above-described embodiments, the microcomputer 56 varies the period during which the all-off signal is output based on the control target value input from the host ECU 70, and intermittently energizes the motor 20 to perform motor motoring. However, the microcomputer 56 may perform control to change the duty ratio of PWM control based on the control target value.

Further, the determination of the delay of the output voltage between the phases of the Hall IC 64 in the first embodiment, the determination of the fluctuation (increase) in the consumption current of the motor 20 in the second embodiment, and the output lever 12 in the third embodiment The determination of the contact of the reaction force transmission lever 8 may be performed by the motor driver IC 58 instead of the microcomputer 56.

Further, in the first embodiment, whether or not the connection structure between the output lever 12 and the pedal body 6 is separated is determined based on the duration of the voltage signal of each phase of the Hall IC 64. May be based on. In this case, since the duration of the voltage signal becomes longer as the rotational speed of the rotor of the motor 20 decreases, there is an external load when the duration is long, and the output lever 12 and the reaction force transmission lever 8 come into contact with each other. Can be determined.

DESCRIPTION OF SYMBOLS 1 ... Accelerator pedal apparatus, 2 ... Pedal main unit, 2a ... Holding base, 2b ... Support shaft, 4 ... Pedal arm (operator), 6 ... Pedal main part (operator), 8 ... Reaction force transmission lever (operator) ), 10 ... reaction force output device (drive unit), 12 ... output lever (drive member), 14 ... housing, 16 ... reaction force output shaft, 20 ... motor (drive unit), 22 ... rotating shaft, 30 ... gear reduction Mechanism: 40 ... CAN cable, 50 ... Circuit board, 54 ... CAN control circuit, 56 ... Microcomputer (control unit), 58 ... Motor driver IC (control unit), 60 ... Power FET, 64, 64U, 64V, 64W ... Hall IC (control unit), 70 ... host ECU, 72 ... engine

Claims

A drive unit that outputs a force in a direction opposite to the operation direction with respect to an operator operated by an operator by driving the drive member;
When it is determined whether or not there is a separation between the operation element and the driving member, and it is determined that the separation has occurred, the driving force is greater than when it is determined that no separation has occurred. A control unit for controlling the drive unit to output
Reaction force output device comprising.
The controller is
If it is determined that the separation has not occurred, the drive unit is controlled by intermittently energizing the drive unit based on a control target value input from the outside,
When it is determined that the separation has occurred, the energization period to the drive unit is lengthened compared to the case where it is determined that the separation has not occurred.
The reaction force output device according to claim 1.
The control unit alternately provides a period for driving the driving unit by PWM control and a period for stopping energization to the driving unit when it is determined that the separation does not occur.
The reaction force output device according to claim 2.
The drive unit is a rotary motor,
The control unit determines whether or not there is a separation between the operation element and the driving member based on a degree of delay in rotation of the driving unit.
The reaction force output device according to any one of claims 1 to 3.
The control unit determines whether or not there is a separation between the operation element and the driving member based on a change in current consumption consumed by the driving unit.
The reaction force output device according to any one of claims 1 to 3.
The control unit determines whether or not there is a separation between the operating element and the driving member based on the input operation amount of the operating element and the displacement of the driving member by the driving unit. To
The reaction force output device according to any one of claims 1 to 3.